US10002298B2 - Method and control and recording device for the plausibility checking for the wrong-way travel of a motor vehicle - Google Patents

Method and control and recording device for the plausibility checking for the wrong-way travel of a motor vehicle Download PDF

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Publication number
US10002298B2
US10002298B2 US14/478,965 US201414478965A US10002298B2 US 10002298 B2 US10002298 B2 US 10002298B2 US 201414478965 A US201414478965 A US 201414478965A US 10002298 B2 US10002298 B2 US 10002298B2
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road
motor vehicle
directional
visual
wrong
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US20150071496A1 (en
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Christian Jeschke
Christian Braeuchle
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
    • G06K9/00798—
    • G06K9/00818—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Definitions

  • German Patent Application No. 10 2013 217 833.6 filed in Germany on Sep. 6, 2013, German Patent Application No. 10 2013 223 410.4, filed in Germany on Nov. 15, 2013, German Patent Application No. 10 2013 223 397.3, filed in Germany on Nov. 15, 2013, German Patent Application No. 10 2013 223 408.2, filed in Germany on Nov. 15, 2013, German Patent Application No. 10 2013 223 400.7, filed in Germany on Nov. 15, 2013, German Patent Application No. 10 2013 223 403.1, filed in Germany on Nov. 15, 2013, German Patent Application No. 10 2013 223 398.1, filed in Germany on Nov. 15, 2013, and German Patent Application No. 10 2014 210 411.4, filed in Germany on Jun. 3, 2014, the disclosures of which are incorporated herein by reference.
  • the present invention relates to a method and a control and recording device for the plausibility checking of the wrong-way travel of a motor vehicle on a directional roadway.
  • a directional roadway is a roadway that is structurally separated from oncoming traffic. This kind of roadway may be found on freeways or expressways, such as enlarged German Federal highways. Wrong-way travel may be subdivided into forwards and backwards travel, the forwards travel being initiated by a wrong-way entrance or by turning around.
  • Modern motor vehicles use inertial sensors, such as acceleration sensors and yaw-rate sensors, as well as the steering angle, to determine the vehicle state, in order to implement safety and comfort systems.
  • inertial sensors such as acceleration sensors and yaw-rate sensors, as well as the steering angle
  • a multitude of motor vehicles these days have an internal GPS module, such as for a navigation system or a position finding of the motor vehicle.
  • Equipping motor vehicles with stereovideo cameras for detecting pedestrians is in the early stages, since they are in a position to measure precise distances and dimensions of objects.
  • the method according to the present invention for plausibility checking wrong-way travel of a motor vehicle on a directional roadway of a road basically includes the following steps:
  • the method according to the present invention determines whether the motor vehicle is on a directional roadway at all, such as a freeway or an expressway.
  • This realization is a basic step for the recognition or detection of a wrong-way travel.
  • Drawing upon a visual road feature makes this possible in a simple and rapid manner.
  • the optical recording of a visual road feature, by a stereovideo camera, for example is able to increase the robustness and reliability in the realization or plausibility checking of wrong-way travel, which raises the safety of the motor vehicle and the passengers.
  • the information content of a visual road feature may be used in addition, to establish a case of wrong-way travel.
  • At least one plausibility checking value is generated based on a standard regulation for the directional roadway.
  • a standard regulation such as the Highway Code, uniquely specifies certain features or criteria for various types of road, which are mandatory to be implemented and are thus easily detectable.
  • a plausibility checking value for a road feature may then be a certain value of this feature, for instance, for an expressway. Such plausibility checking values increase the robustness of the method.
  • the visual road feature may include a lane width of a traffic lane or a width, length, or length of an interruption of a marking, particularly of a broken line, or, in the case of the width, of a dividing line, on the roadway of the road.
  • the visual road feature may include a road sign.
  • a sign or a sign structure may be included next to the roadway of the road.
  • content and/or shape of the sign may be recorded and processed. This further dimension increases the safety and the reliability of the method.
  • the road sign may be an advance direction sign of a freeway.
  • the advance direction sign also designated as sign “449” of the German highway code, is easy to detect because of its considerable size and specified color.
  • the detection of the front side of a road sign be used and for the determination and/or the establishment of wrong-way travel, the detection of the back side of a road sign is used.
  • the information content of the sign is used in a dual manner, first, to establish expressway travel and second, to establish wrong-way travel. Thus the information gain is maximized with little effort.
  • an image sensor which may be a stereovideo camera of the motor vehicle.
  • the visual road features are recorded in the best manner.
  • a stereoimage camera or a stereovideo camera is particularly suitable for recording and accurately measuring the rectangular markings and/or signs ahead of the vehicle.
  • a control and recording device for plausibility checking a wrong-way travel of a motor vehicle on a directional roadway of a road having a recording arrangement for recording at least one visual road feature and a determining arrangement for determining, with the aid of the visual road feature, whether the motor vehicle is located on a directional roadway.
  • the recording arrangement may include at least one image sensor, which may be a stereovideo camera.
  • the stereovideo camera of the motor vehicle is quite suitable for recording visual road features.
  • the determining arrangement may include a controller or a control unit or a suitable arithmetic unit.
  • the control and recording device may include a control unit, which is configured to compare a signal of the image sensor to a plausibility checking value for a road feature.
  • This control unit or control arithmetic unit may be developed as a separate unit or as a component, or even as a software routine of an already existing unit. Such a control unit enables the direct and rapid carrying out of the plausibility checking, which increases safety.
  • the control and recording device may have a memory for storing at least one plausibility checking value for a road feature.
  • the motor vehicle is able to check or compare measured values to the plausibility checking value, in autonomous fashion, that is, without connection to an external device.
  • the plausibility checking value may be stored in an external device.
  • FIG. 1 shows a schematic representation of a directional roadway having standardizing features.
  • FIG. 2 shows a schematic representation of a directional roadway with motor vehicles.
  • FIG. 3 shows a schematic representation of a motor vehicle having a control and recording device.
  • FIG. 4 shows a method for plausibility checking wrong-way travel of a motor vehicle, in the form of a flow chart.
  • FIG. 1 shows schematically a sectional representation of a road 1 , such as an expressway or a freeway.
  • Road 1 is made up of two directional roadways 2 that are spatially separated from each other.
  • Each directional roadway 2 has a plurality of traffic lanes or traffic tracks 3 , in this instance, three traffic lanes per directional roadway 2 .
  • Two traffic lanes respectively are separated from each other by a broken line 4 .
  • An outer lying traffic lane 3 is bordered at its outer edge by a dividing line 5 .
  • Dividing line 5 is solid while broken lines 4 are interrupted.
  • German freeways On German freeways the width of a traffic lane 3 is at least 3.75 m, whereas on highways it is 3.5 m.
  • the narrow line width on a German freeway amounts to at least 0.15 m, while it is 0.12 m on other roads.
  • the wide line width on German freeways amounts to at least 0.3 m, while it is 0.25 m on other roads.
  • the narrow line length on a German freeway amounts to 6 m, while it is 3 m on other German roads.
  • the length of the interruption of a broken line on a German freeway is 12 m.
  • FIG. 1 two road signs 6 are shown, in this case in the form of advance direction signs to freeways, according to German highway code signs “449”. As shown, these signs 6 are usually situated on a sign bridge 7 or on sign carriers standing laterally next to the roadway. On their front side 8 signs 6 have information in white script on a blue background.
  • FIG. 2 shows schematically the top view onto a directional roadway 2 of a road 1 , in this case, a federal freeway.
  • Directional roadway 2 includes a plurality of traffic lanes 3 ; next to broken lines 4 and dividing lines 5 , road signs 6 are shown having a front side 8 and a back side 9 .
  • the track width of traffic lanes 3 , the properties of broken lines 4 and of dividing lines 5 , the properties of signs 6 as well as the properties of connecting point 11 , all of them include visual road features. As will be described below, these visual road feature are used, according to the present invention, to establish whether a motor vehicle 10 is located on a directional roadway 2 , or rather, whether there is wrong-way travel on the part of the motor vehicle.
  • FIG. 3 schematically shows a motor vehicle 10 , which corresponds to one of motor vehicles 10 in FIG. 1 .
  • Vehicle 10 includes a control and recording device for plausibility checking wrong-way travel of motor vehicle 10 on directional roadway 2 of road 1 .
  • vehicle or motor vehicle one should understand, in this case, all driven means of transportation, such as passenger cars, trucks, buses, motorcycles, etc.
  • Motor vehicle 10 or the control and recording device includes at least one image sensor 12 , for instance in the form of a stereoimage camera or in the form of a stereovideo camera.
  • Image sensor 12 is situated on the front side of motor vehicle 10 , so that it has a recording range lying in front of motor vehicle 10 , in the travel direction.
  • Motor vehicle 10 or rather the control and recording device, also includes a control unit or controller 13 as well as a communications interface 14 , which is configured to communicate with an external device 15 , such as central server.
  • Control unit 13 is in communication or connection with sensor 12 and communications interface 14 ; this may be wire-bound or wireless.
  • motor vehicle 10 or rather the control and recording device, includes a memory for storing at least one plausibility checking value for a road feature.
  • Sensor 12 , control unit 13 , communications interface 14 and memory 16 may be developed, as shown here, as independent units, or they may be integrated in one or more units. It is not required, in particular, that each component be executed as hardware, but equally individual functions may be implemented as software routines or programs.
  • data such as map data and/or functionalities, such as access to programs of external device 15 may be provided to motor vehicle 10 or the control and recording device.
  • a first step 100 in a preliminary manner, at least one plausibility checking value is generated for visual road features based on a standard regulation for directional roadway 2 .
  • the plausibility checking value for the width of a traffic lane is 3.75 m, which corresponds to the minimum width of a traffic lane of a German freeway.
  • a visual road feature such as a roadway marking 3 , 4 or 5 , or a road sign 6 is recorded by image sensor 12 of motor vehicle 10 .
  • a third step 120 it is determined whether motor vehicle 10 is located on a directional roadway 2 .
  • the recorded visual road feature is compared to the corresponding plausibility checking value. If the recorded visual road feature corresponds to the plausibility checking value, motor vehicle 10 is located on a directional roadway 2 . If the recorded visual road feature and the plausibility checking value do not correspond, motor vehicle 10 is located on a different type of road. This type may alternatively be determined in the same manner. Only, for this purpose, other plausibility checking values are drawn upon. Thus, for instance, the lane width of a German freeway amounts to at least 3.75 m, while the lane width of a state highway is 3.50 m.
  • a one-time recording with comparison may be sufficient, or it may be provided to require a plurality of successful comparisons of a visual road feature to one or more plausibility checking values for the detection of the road type.
  • two to ten which may be three to five positive comparisons may be required.
  • connection point 11 may be regarded as a direction-dependent property. While correctly traveling vehicles 10 have to have connecting point 11 on their right side, in the direction of travel, for vehicle 10 engaged in wrong-way travel, connection point 11 makes its appearance on the left side. One is able to determine whether a motor vehicle is engaged in wrong-way travel with the aid of these and further visual road features.
  • reactions to the detection of the wrong-way travel may take place.
  • This may include passive actions, such as warnings or warning information to the driver of motor vehicle 10 , and also active actions, such as an intervention in the motion and/or steering of motor vehicle 10 .

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
US14/478,965 2013-09-06 2014-09-05 Method and control and recording device for the plausibility checking for the wrong-way travel of a motor vehicle Active 2034-09-17 US10002298B2 (en)

Applications Claiming Priority (24)

Application Number Priority Date Filing Date Title
DE102013217833.6 2013-09-06
DE102013217833 2013-09-06
DE102013217833 2013-09-06
DE102013223403 2013-11-15
DE102013223410 2013-11-15
DE102013223408 2013-11-15
DE102013223398 2013-11-15
DE102013223400.7 2013-11-15
DE102013223403 2013-11-15
DE102013223410.4 2013-11-15
DE102013223400 2013-11-15
DE102013223397.3 2013-11-15
DE102013223408 2013-11-15
DE102013223408.2 2013-11-15
DE102013223397 2013-11-15
DE102013223398 2013-11-15
DE102013223403.1 2013-11-15
DE102013223397 2013-11-15
DE102013223398.1 2013-11-15
DE102013223410 2013-11-15
DE102013223400 2013-11-15
DE102014210411.4 2014-06-03
DE102014210411 2014-06-03
DE102014210411.4A DE102014210411A1 (de) 2013-09-06 2014-06-03 Verfahren und Steuer- und Erfassungseinrichtung zum Plausibilisieren einer Falschfahrt eines Kraftfahrzeugs

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JP6237214B2 (ja) * 2013-12-24 2017-11-29 株式会社デンソー 逆走検出装置
JP6462493B2 (ja) * 2015-05-29 2019-01-30 株式会社デンソー 進入判定装置、進入判定方法
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